Sharing rgbd device between ros and openni2 applications

asked 2015-02-24 07:02:19 -0500

DKozlovskis gravatar image

Hello all!

I am trying to work with xtion pro live device, openni2 & and nite2.
Is there a way to share device between ros nodes after launching openni2 camera drivers, in order to write additional applications for hand/skeleton tracking using NITE2?

I saw already similar question here: -which basically tells that skeleton tracking cannot be used after launching camera. And this is due to the fact explained in Openni cookbook:
"Unlike OpenNI 1.x, where we could share a device between two or more applications at the same time, we can't share a sensor's output at all with OpenNI 2.x. In the new design, the first application always locks the device; not only is there no way for the second app to change settings of sensors, there is no way to even use the output of locked sensors in any way as well."

However, as far I am still wondering if it is possible to initialize openni2 or nite2 by sharing a pointer of devices as it can be done by e.g.:
nite::UserTracker uTracker;
niStatus = uTracker.create(&device);

Did anyone succeed doing this?

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Same issue here. The question is whether and how do you pass this pointer as a ROS message?

Yianni gravatar image Yianni  ( 2015-05-05 09:20:50 -0500 )edit